Seedling curtain cleaning machine

Abstract

The invention discloses a seedling curtain cleaning machine which mainly comprises a supporting main body, a housing, a cross arm, a central column, a positioning hook, a sliding table, a swing arm, an electric clamp, a camera and a spray head, a central table is arranged at the center of the supporting main body, two guide columns and two flushing arms are arranged on the outer side of the supporting main body, a water tank is coaxially and fixedly installed above the central table, and the housing is installed above the water tank. An indicator lamp is arranged on a top cover of the housing, the lower end of the central column is mounted in the central table and forms a rotating pair, the five clamping frames are rotatably mounted at the upper end of the central column respectively, two positioning hooks are arranged at the front end of each clamping frame and used for fixing a seedling curtain, and the two cross arms are mounted at the upper ends of the two guide columns respectively and can move up and down. The two sliding tables are installed on the two cross arms respectively and can move front and back, the two cameras are installed on the lower sides of the two sliding tables respectively, the two electric clamps are rotatably installed on the lower sides of the sliding tables through the two swing arms respectively, and the two sprayers are installed on the lower sides of the cross beams at the upper ends of the two flushing arms respectively and form a moving pair.

Description

Technical Field

[0001] The invention relates to the technical field of algae cultivation, and in particular to a seedling curtain cleaning machine. Background Art

[0002] In the long-term cultivation process of algae, cultivation tools have been fully developed, among which the emergence of seedling curtains is a significant invention; seedling curtains are widely used in the seedling cultivation process of kelp and other seaweeds. Seedling curtains serve as a matrix for the attachment of algae spores, and then grow into seedlings on the seedling curtains, providing a platform for the growth and development of algae larvae. In addition, seedling curtains are easy to wash and manage, which can ensure the cleanliness and hygiene of the seedling cultivation environment and provide good conditions for the growth of algae seedlings. In general, seedling curtains play a vital role in algae cultivation. It not only improves the efficiency and quality of seedling cultivation, but also meets the requirements of environmental protection and sustainable development.

[0003] During the seedling raising process, sludge, impurities and other harmful plants and animals will adhere to the surface of the seedling curtain. These attachments will not only affect the air permeability of the seedling curtain, but may also become a source of infection for diseases. In order to ensure the normal growth of algae seedlings, regular cleaning of the seedling curtain is very necessary. Under the current conditions, the cleaning process of the seedling curtain is still a labor-intensive job, requiring a large number of workers to clean the seedling curtain. Not only is the labor cost high, but the repetitive and monotonous work will also cause workers to have negative emotions. Therefore, the development of a seedling curtain cleaning machine with a high degree of automation and good cleaning effect has obvious social and economic benefits. Summary of the invention

[0004] To solve the deficiencies of the prior art, the purpose of the present invention is to provide a seedling curtain cleaning machine, which mainly includes a support main body, a housing, a transposition motor, a first horizontal arm, a second horizontal arm, a central column, a first clamping frame, a second clamping frame, a third clamping frame, a fourth clamping frame, a fifth clamping frame, a flipping motor, a vibration motor, a positioning hook, a slide table motor, a slide table, a swing arm motor, a swing arm, an electric clamp, a camera, a nozzle motor, and a nozzle. It is characterized in that: a central platform is arranged at the center of the support main body, and a first guide post, a second guide post, a first flushing arm, and a second flushing arm are arranged on the outside of the support main body. The first guide post and the second guide post have the same structure, and both of them have a hollow structure with an upward opening inside. The first flushing arm and the second flushing arm have the same structure, and cross beams pointing to the center are arranged at the upper ends of both of them. A water tank is coaxially and fixedly installed above the central platform. The water tank is an incomplete circular ring structure with a notch, and the notch is located between the second flushing arm and the first guide post. The housing is an incomplete circular ring shell structure with a notch and is installed above the water tank. An indicator light is arranged on the upper side of the housing top cover; the central column is a cylindrical structure, and its lower end is installed inside the central platform and forms a rotating pair. The upper end of the central column is evenly provided with a first support arm, a second support arm, a third support arm, a fourth support arm, and a fifth support arm. A flipping motor is installed inside the outer ends of the five support arms; the transposition motor is installed on the front side of the central platform and realizes the rotation and positioning of the central column through a gear transmission structure; the rear end of the first clamping frame is installed at the front end of the first support arm and forms a rotating pair, and the flipping motor can realize the flipping and positioning of the first clamping frame. A vibration motor and an oscillator are installed inside the rear end of the first clamping frame; two guide grooves are arranged on the inner sides of the two branches of the C-shaped structure at the front end of the first clamping frame, and two positioning hooks are rotatably installed on the outer sides of the two branches of the C-shaped structure at the front end; the second clamping frame, the third clamping frame, the fourth clamping frame, and the fifth clamping frame have the same structure and related connecting components as the first clamping frame, and the above four clamping frames are respectively rotatably connected to the second support arm, the third support arm, the fourth support arm, and the fifth support arm; the first horizontal arm is an inverted L-shaped structure, and its rear end is installed at the upper end inside the first guide post and can move up and down. The slide table is installed in the hollow guide groove at the upper end of the first horizontal arm and can move back and forth. The slide table motor is fixedly installed on the upper side of the rear end of the first horizontal arm and can realize the movement of the slide table through a synchronous belt transmission structure. The camera is installed on the lower side of the slide table. The swing arm motor is installed on the upper side of the slide table. The rear end of the swing arm is fixedly connected to the output shaft of the swing arm motor. The electric clamp is fixedly installed on the lower side of the front end of the swing arm; the second horizontal arm has the same structure and related connecting components as the first horizontal arm, and the rear end of the second horizontal arm is installed at the upper end inside the second guide post and can move up and down; the nozzle is a long strip shower structure, and the upper side of the nozzle is installed on the lower side of the first flushing arm and forms a moving pair. The nozzle motor is installed at the rear end of the upper side of the first flushing arm and realizes the movement of the nozzle through a synchronous belt transmission structure. The related connecting components of the second flushing arm and the first flushing arm are the same.

[0005] Preferably, the angle between guide post No. 1 and guide post No. 2 is 72°, the angle between guide post No. 2 and flushing arm No. 1 is 72°, the angle between flushing arm No. 1 and flushing arm No. 2 is 72°, and the angle between flushing arm No. 2 and guide post No. 1 is 144°.

[0006] Preferably, the angle between the notches of the water trough is 72°, a water outlet is provided at the rear end of the water trough, an openable and closable valve is provided at the lower end of the water outlet, and the valve is connected to the water filtering device.

[0007] Preferably, a red light, a yellow light and a green light are provided inside the indicator light. The red light is on when a fault occurs in the seedling curtain cleaning machine, the yellow light is on when the seedling curtain cleaning machine needs to be replaced and the seedling curtain is installed, and the green light is on when the seedling curtain cleaning machine is in a normal cleaning state. The cover is installed on the upper side of the sink.

[0008] Preferably, the vibrator is an eccentric block structure, and the vibrator is tightly connected to the output shaft of the vibration motor, so that when the vibration motor rotates, the No. 1 clamping frame can vibrate.

[0009] Preferably, a freely rotatable guide roller is provided at the front end of the positioning hook, a pressure stop surface is provided behind the guide roller, a pressing plate is provided at the rear end of the positioning hook, and a spring sheet is installed between the inner side of the pressing plate and the No. 1 clamping frame.

[0010] Preferably, the camera can identify the location of impurities on the seedling curtain through the principle of visual positioning.

[0011] Preferably, a water pipe interface is provided at the upper end of the nozzle, and the water pipe interface is connected to the water supply device through a solenoid valve.

[0012] The beneficial effects of the present invention are as follows: (1) The seedling curtain cleaning machine has a high degree of automation and intelligence. Only the process of loading and unloading the seedling curtain requires manual participation, which greatly reduces the labor intensity of manual work and reduces the cost of seedling curtain cleaning. (2) The technical principle of visual recognition is adopted in the cleaning process to accurately locate the distribution position of impurity algae, and electric clamps are used to remove impurity algae at specific points. Finally, the seedling curtain is rinsed with a water curtain sprayed from the nozzle, and the seedling curtain is in a vibrating state during the rinsing process, thereby achieving a better rinsing effect. After the rinsing is completed, the excess water on the seedling curtain can be shaken off to avoid water dripping onto the ground during the transfer of the seedling curtain, causing the ground to be slippery and causing safety hazards. The above cleaning process can simulate the action of manual cleaning to a large extent, thereby achieving a better seedling curtain cleaning effect. (3) The double-sided cleaning of the seedling curtain can be achieved, and the cleaning effect is more thorough. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0014] Figure 2 It is a schematic diagram of the internal structure of the present invention.

[0015] Figure 3 It is a schematic diagram of the longitudinal cross-sectional structure of the present invention.

[0016] Figure 4 It is a partial enlarged structural schematic diagram of the No. 1 clamping frame in the present invention.

[0017] Figure 5 It is a schematic diagram of the partially enlarged structure of the position of the No. 1 horizontal arm in the present invention.

[0018] Figure 6 It is a schematic diagram of the partially enlarged structure of the No. 1 horizontal arm position in the present invention when viewed from above.

[0019] Figure 7 It is a partial enlarged structural schematic diagram of the position of the No. 1 flushing arm in the present invention.

[0020] Figure 8 It is a structural schematic diagram of the supporting body in the present invention.

[0021] Figure numbers: 1 support body, 101 center table, 102 water tank, 103 guide column No. 1, 104 guide column No. 2, 105 flushing arm No. 1, 106 flushing arm No. 2, 2 cover, 201 indicator light, 3 transposition motor, 301 rotating frame gear, 4 cross arm No. 1, 5 cross arm No. 2, 6 center column, 601 large gear, 602 support arm No. 1, 603 support arm No. 2, 604 support arm No. 3, 605 support arm No. 4, 606 support arm No. 5, 7 clamping frame No. 1, 701 guide groove, 8 clamping frame No. 2, 9 clamping frame No. 3, 10 clamping frame No. 4, 1 1 No. 5 clamping frame, 12 valve, 13 flip motor, 14 turntable bearing, 15 vibration motor, 16 vibrator, 17 positioning hook, 1701 guide roller, 18 spring sheet, 19 seedling curtain, 20 lifting electric cylinder, 21 No. 1 pulley, 22 slide motor, 23 No. 2 pulley, 24 No. 1 synchronous belt, 25 slide, 26 swing arm motor, 27 swing arm, 28 No. 3 pulley, 29 electric clamp, 30 camera, 31 nozzle motor, 32 No. 4 pulley, 33 No. 5 pulley, 34 No. 2 synchronous belt, 35 No. 6 pulley, 36 nozzle, 3601 water pipe interface. DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with specific embodiments. The illustrative embodiments and descriptions of the present invention are used to explain the present invention but are not intended to limit the present invention.

[0023] like Figure 1-8As shown, the seedling curtain cleaning machine mainly includes a supporting body 1, a cover 2, a transposition motor 3, a No. 1 cross arm 4, a No. 2 cross arm 5, a center column 6, a No. 1 clamping frame 7, a No. 2 clamping frame 8, a No. 3 clamping frame 9, a No. 4 clamping frame 10, a No. 5 clamping frame 11, a valve 12, a flip motor 13, a turntable bearing 14, a vibration motor 15, a vibrator 16, a positioning hook 17, a spring sheet 18, a seedling curtain 19, a lifting electric cylinder 20, a No. 1 pulley 21, a slide motor 22, a No. 2 pulley 23, a No. 1 synchronous belt 24, a slide 25, a swing arm motor 26, a swing arm 27, a No. 3 pulley 28, an electric clamp 29, a camera 30, a nozzle motor 31, a No. 4 pulley 32, a No. 5 pulley 33, a No. 2 synchronous belt 34, No. 6 pulley 35, nozzle 36, characterized in that: a center platform 101 is arranged at the center of the support body 1, the lower end of the center platform 101 is supported on the ground, a bearing mounting hole is arranged inside the center platform 101, and a No. 1 guide column 103, a No. 2 guide column 104, a No. 1 flushing arm 105, and a No. 2 flushing arm 106 are arranged on the outer side of the support body 1, wherein the angle between the No. 1 guide column 103 and the No. 2 guide column 104 is 72°, the angle between the No. 2 guide column 104 and the No. 1 flushing arm 105 is 72°, the angle between the No. 1 flushing arm 105 and the No. 2 flushing arm 106 is 72°, the angle between the No. 2 flushing arm 106 and the No. 1 guide column 103 is 144°, and the No. 1 guide column 103 is 144°. The interior of 03 is a hollow structure with an opening upward, and its lower end is supported on the ground. A crossbar is arranged between the No. 1 guide post 103 and the center platform 101 for fixed connection. The No. 2 guide post 104 has the same structure as the No. 1 guide post 103. The lower end of the No. 2 guide post 104 is supported on the ground. A crossbar is also arranged between the No. 2 guide post 104 and the center platform 101 for fixed connection. The lower end of the No. 1 flushing arm 105 is supported on the ground. The upper end of the No. 1 flushing arm 105 is provided with a crossbeam pointing to the center. The lower side of the crossbeam is provided with only two guide rails. The interior of the crossbeam is provided with a guide slot that runs through from top to bottom. A crossbar is also arranged between the lower end of the No. 1 flushing arm 105 and the center platform 101 for fixed connection. The No. 2 flushing arm 10 6 has the same structure as the No. 1 flushing arm 105, the lower end of the No. 2 flushing arm 106 is supported on the ground, and a cross bar is also provided between the lower end of the No. 2 flushing arm 106 and the center platform 101 for fixed connection. The water tank 102 is an incomplete circular ring structure provided with a notch, and the water tank 102 is coaxially fixedly installed above the center platform 101. Four support plates are provided on the upper side of the above four cross bars for supporting the water tank 102. The angle between the notches of the water tank 102 is 72°, and the notch is located between the No. 2 flushing arm 106 and the No. 1 guide column 103. The rear end of the water tank 102 is provided with a water outlet, and the lower end of the water outlet is provided with an openable and closable valve 12, and the valve 12 is connected to the water filtering device;The cover 2 is an incomplete circular shell structure with notches, the angle between the notches is 72°, and two windows are arranged on both sides of the notches. The upper end of the cover 2 is provided with a top cover, and an indicator light 201 is arranged on the upper side of the top cover. The indicator light 201 is provided with red, yellow and green lights. When the seedling curtain cleaning machine fails, the red light is on, when the seedling curtain cleaning machine needs to replace and install the seedling curtain, the yellow light is on, and when the seedling curtain cleaning machine is in a normal cleaning state, the green light is on. The cover 2 is installed on the upper side of the water tank 102. ;

[0024] like Figure 2 , Figure 3 As shown, the center column 6 is a cylindrical structure, and its lower end is installed in the bearing mounting hole inside the center platform 101 through two deep groove ball bearings and a thrust bearing to form a rotating pair. The center column 6 is coaxially arranged with only a large gear 601 near the lower end, and the upper end of the center column 6 is horizontally arranged with a first support arm 602, a second support arm 603, a third support arm 604, a fourth support arm 605, and a fifth support arm 606, and the angle between two adjacent support arms is 72°. A flip motor 13 is fixedly installed inside the outer ends of the above five support arms; the transposition motor 3 is fixedly installed on the front side of the center platform 101, the rotating frame gear 301 is coaxially fastened with the output shaft of the transposition motor 3, and the rotating frame gear 301 is meshed with the large gear 601 to form a gear transmission structure, and the interior of the transposition motor 3 is integrated with an encoder and a brake, the encoder can monitor the rotation angle of the output shaft of the transposition motor 3 in real time, thereby determining the angular position of the center column 6, and the brake can realize the position locking of the center column 6.

[0025] like Figure 3 , Figure 4As shown in the figure, the rear end of the first clamping frame 7 is installed at the front end of the first support arm 602 through a rotary table bearing 14 to form a rotating pair. The short shaft at the rear end of the first clamping frame 7 passes through the rotary table bearing 14 and is coaxially and firmly connected to the output shaft of the flipping motor 13 inside the first support arm 602. Thus, the flipping motor 13 can achieve the flipping and positioning of the first clamping frame 7. An encoder and a brake are integrated inside the flipping motor 13. The encoder can detect the rotation angle of the output shaft of the flipping motor 13 in real time to determine the angular position of the first clamping frame 7, and the brake can lock the first clamping frame 7. A vibration motor 15 is fixedly installed inside the rear end of the first clamping frame 7. The vibrator 16 is of an eccentric block structure and is firmly connected to the output shaft of the vibration motor 15. Thus, when the vibration motor 15 rotates, it can cause the first clamping frame 7 to vibrate. The front end of the first clamping frame 7 is of a U-shaped structure. Two guide grooves 701 are arranged on the inner sides of the two branches of the U-shaped structure. Two positioning hooks 17 are rotatably installed on the outer sides of the front ends of the two branches of the U-shaped structure. A freely rotatable guide roller 1701 is arranged at the front end of the positioning hook 17. A pressing surface is arranged behind the guide roller 1701. A pressing plate is arranged at the rear end of the positioning hook 17. A spring piece 18 is installed between the inner side of the pressing plate and the first clamping frame 7. Under the elastic force of the spring piece 18, the left positioning hook 17 has a tendency to rotate clockwise, and the right positioning hook 17 has a tendency to rotate counterclockwise.

[0026] When installing the seedling curtain 19 in the first clamping frame 7, first, the flipping motor 13 drives the first clamping frame 7 to be in a horizontal state. The worker holds the seedling curtain 19 horizontally with both hands. The index fingers of both hands simultaneously press the pressing plates at the rear ends of the left and right positioning hooks 17 to open the front end of the U-shaped structure of the first clamping frame 7. Then, the seedling curtain 19 is inserted into the inner sides of the two branches of the U-shaped structure. After releasing the index fingers of both hands, the two guide rollers 1701 at the front ends of the two positioning hooks 17 press against the two side surfaces of the seedling curtain 19. The seedling curtain 19 is continuously pushed to the bottom of the U-shaped structure. Then, the two pressing surfaces at the front ends of the two positioning hooks 17 press against the front ends of both sides of the seedling curtain 19 under the elastic force of the corresponding spring pieces 18 to fix the seedling curtain 19. When unloading the seedling curtain 19, the index fingers of both hands of the worker simultaneously press the pressing plates at the rear ends of the left and right positioning hooks 17 to open the front end of the U-shaped structure of the first clamping frame 7. Then, the seedling curtain 19 is pulled out from the U-shaped structure. After releasing the index fingers of both hands, the two guide rollers 1701 at the front ends of the two positioning hooks 17 press against the two side surfaces of the seedling curtain 19. The seedling curtain 19 is continuously pulled outwards to complete the unloading.

[0027] As Figure 2As shown, the structures of the No. 2 clamping frame 8, the No. 3 clamping frame 9, the No. 4 clamping frame 10 and the No. 5 clamping frame 11 are the same as those of the No. 1 clamping frame 7, and two positioning hooks 17 with spring sheets 18 installed inside are also arranged at the front end of each of the four clamping frames, and a vibration motor 15 with a vibrator 16 installed is also arranged inside the rear end of the above four clamping frames; the rear end of the No. 2 clamping frame 8 is installed at the front end of the No. 2 support arm 603 through a turntable bearing 14 to form a rotation pair, and the flipping motor 13 inside the No. 2 support arm 603 can realize the flipping and positioning of the No. 2 clamping frame 8; the rear end of the No. 3 clamping frame 9 is installed at the front end of the No. 3 support arm 604 through a turntable bearing 14 to form a rotation pair, and the No. 3 support arm 6 04, the flipping motor 13 inside can realize the flipping and positioning of the No. 3 clamping frame 9; the rear end of the No. 4 clamping frame 10 is installed on the front end of the No. 4 support arm 605 through a turntable bearing 14 to form a rotating pair, and the flipping motor 13 inside the No. 4 support arm 605 can realize the flipping and positioning of the No. 4 clamping frame 10; the rear end of the No. 5 clamping frame 11 is installed on the front end of the No. 5 support arm 606 through a turntable bearing 14 to form a rotating pair, and the flipping motor 13 inside the No. 5 support arm 606 can realize the flipping and positioning of the No. 5 clamping frame 11; the method of installing and unloading the seedling curtain 19 in the No. 2 clamping frame 8, the No. 3 clamping frame 9, the No. 4 clamping frame 10, and the No. 5 clamping frame 11 is the same as that of the No. 1 clamping frame 7.

[0028] like Figure 5 , Figure 6As shown, the No. 1 cross arm 4 is an inverted L-shaped structure, and a hollow guide groove is provided at its upper end, and its rear end is installed at the upper end of the No. 1 guide column 103 and can move up and down; the lifting electric cylinder 20 is installed inside the No. 1 guide column 103, and the lifting electric cylinder 20 can realize the up and down movement and positioning of the No. 1 cross arm 4, and an encoder is integrated inside the lifting electric cylinder 20, which can monitor the elongation of the lifting electric cylinder 20 in real time, thereby determining the height of the No. 1 cross arm 4; the slide motor 22 is fixedly installed on the upper side of the rear end of the No. 1 cross arm 4, the No. 1 pulley 21 is coaxially and tightly connected with the output shaft of the slide motor 22, the No. 3 pulley 28 is rotatably installed on the left side of the front end of the No. 1 cross arm 4, the No. 2 pulley 23 is rotatably installed on the left side of the No. 1 cross arm 4, and the No. 2 pulley 23 and the No. 3 pulley 28 have the same size and installation height, and the No. 1 synchronous belt 24 is mounted on the No. 1 pulley 21, the No. 2 pulley 23, and the No. 3 pulley 28 to form a synchronous belt Transmission structure; the slide 25 is installed in the hollow guide groove at the upper end of the No. 1 cross arm 4 and can move forward and backward. The left end of the slide 25 is fixedly connected to the No. 1 synchronous belt 24 through a pressure plate and screws, so that the slide motor 22 can realize the forward and backward movement and positioning of the slide 25. The slide motor 22 is integrated with an encoder, which can detect the rotation angle of the No. 1 pulley 21 in real time, thereby determining the position of the slide 25; the camera 30 is fixedly installed on the lower side of the slide 25, and the camera 30 can identify the position of impurities on the seedling curtain through the principle of visual positioning; the swing arm motor 26 is fixedly installed on the upper side of the slide 25, and the rear end of the swing arm 27 is fastened to the output shaft of the swing arm motor 26; the electric clamp 29 is fixedly installed on the lower side of the front end of the swing arm 27; the swing arm motor 26 is integrated with an encoder, which can detect the rotation angle of the output shaft of the swing arm motor 26 in real time, thereby determining the position of the electric clamp 29.

[0029] like Figure 2 As shown, the structure of the No. 2 cross arm 5 is the same as that of the No. 1 cross arm 4. The rear end of the No. 2 cross arm 5 is installed on the upper end of the No. 2 guide column 104 and constitutes a moving pair. The lifting electric cylinder 20 in the No. 2 guide column 104 can realize the up and down movement and positioning of the No. 2 cross arm 5. A slide 25 is also installed on the upper end of the No. 2 cross arm 5, and a slide motor 22 is also installed on the rear end of the No. 2 cross arm 5. The slide motor 22 can realize the movement and positioning of the above-mentioned slide 25 through a synchronous belt transmission structure. A camera 30 is also installed on the lower side of the above-mentioned slide 25. The swing arm motor 26 on the upper side of the above-mentioned slide 25 can drive the swing of the swing arm 27 on its lower side. An electric clamp 29 is also provided on the lower side of the front end of the above-mentioned swing arm 27.

[0030] like Figure 7As shown, the nozzle 36 is a long shower structure, and its horizontal length is slightly larger than the width of the seedling curtain 19. A water pipe interface 3601 is provided at the upper end of the nozzle 36, and the water pipe interface 3601 is connected to the water supply device through an electromagnetic valve. The upper side of the nozzle 36 is installed on the two guide rails on the lower side of the No. 1 flushing arm 105 and constitutes a moving pair; the nozzle motor 31 is fixedly installed on the upper rear end of the No. 1 flushing arm 105, the No. 4 pulley 32 is coaxially and tightly connected with the output shaft of the nozzle motor 31, the No. 6 pulley 35 is rotatably installed on the front left side of the No. 1 flushing arm 105, the No. 5 pulley 33 is rotatably installed on the left side of the No. 1 flushing arm 105, and the No. 5 pulley 33 and the No. 6 pulley 33 are connected. 5 are the same in size and installation height. The second synchronous belt 34 is mounted on the fourth pulley 32, the fifth pulley 33 and the sixth pulley 35 to form a synchronous belt transmission structure. The left end of the nozzle 36 is fixedly connected to the second synchronous belt 34 by a pressure plate and a screw, so that the nozzle motor 31 can realize the forward and backward movement and positioning of the nozzle 36. The nozzle motor 31 is integrated with an encoder, which can detect the rotation angle of the fourth pulley 32 in real time, so as to determine the position of the nozzle 36. A nozzle 36 that can move forward and backward is also installed on the upper side of the second flushing arm 106, and the nozzle motor 31 installed at the rear end of the upper side can realize the movement and positioning of the above-mentioned nozzle 36 through the synchronous belt transmission structure.

[0031] Cleaning process of seedling curtain:

[0032] ① The transposition motor 3 drives the central column 6 to rotate, so that the No. 1 support arm 602 rotates to the notch installation position of the cover shell 2, and then the worker loads a seedling curtain 19 to be cleaned into the No. 1 clamping frame 7.

[0033] ② The transposition motor 3 drives the center column 6 to rotate 72° counterclockwise, the No. 1 clamping frame 7 rotates to the lower side of the No. 1 cross arm 4, the No. 5 clamping frame 11 rotates to the notch installation position of the cover shell 2, and the slide motor 22 drives the slide 25 to move forward and backward, so that the camera 30 scans the seedling curtain 19 in the No. 1 clamping frame 7, and determines the position of the attached impurity algae based on visual recognition and positioning, and then cooperates with the swing arm motor 26 to drive the rotation of the swing arm 27 and the lifting electric cylinder 20 to drive the No. 1 cross arm 4 to move up and down, so that the electric clamp 29 can perform targeted removal of impurity algae in the entire front area of ​​the seedling curtain 19; during this process, the worker installs a seedling curtain 19 to be cleaned in the No. 5 clamping frame 11.

[0034] ③ The transposition motor 3 drives the central column 6 to rotate 72° counterclockwise, and the flip motor 13 in the No. 1 support arm 602 drives the No. 1 clamping frame 7 to flip 180°; the No. 1 clamping frame 7 rotates to the lower side of the No. 2 cross arm 5, and the back of the seedling curtain 19 flips to the upper side, the No. 5 clamping frame 11 rotates to the lower side of the No. 1 cross arm 4, and the No. 4 clamping frame 10 rotates to the notch installation position of the cover shell 2;

[0035] Then the electric clamp 29 on the lower side of the second cross arm 5 performs targeted cleaning of the impurities and algae on the back side of the seedling curtain 19 in the first clamping frame 7, and the electric clamp 29 on the lower side of the first cross arm 4 performs targeted cleaning of the impurities and algae on the front side of the seedling curtain 19 in the fifth clamping frame 11, and the worker installs a seedling curtain 19 to be cleaned in the fourth clamping frame 10.

[0036] ④ The transposition motor 3 drives the central column 6 to rotate 72° counterclockwise, the flip motor 13 in the No. 5 support arm 606 drives the No. 5 clamping frame 11 to flip 180°, and the vibration motor 15 at the rear end of the No. 1 clamping frame 7 rotates and causes the corresponding seedling curtain 19 to vibrate; the No. 1 clamping frame 7 rotates to the lower side of the No. 1 flushing arm 105, the No. 5 clamping frame 11 rotates to the lower side of the No. 2 cross arm 5, and the back of the seedling curtain 19 flips to the upper side, the No. 4 clamping frame 10 rotates to the lower side of the No. 1 cross arm 4, and the No. 3 clamping frame 9 rotates to the notch installation position of the cover shell 2;

[0037] Then the nozzle 36 on the lower side of the No. 1 flushing arm 105 moves back and forth and sprays a water curtain to flush the back of the seedling curtain 19 in the No. 1 clamping frame 7, the electric clamp 29 on the lower side of the No. 2 cross arm 5 performs targeted cleaning of the impurities and algae on the back of the seedling curtain 19 in the No. 5 clamping frame 11, and the electric clamp 29 on the lower side of the No. 1 cross arm 4 performs targeted cleaning of the impurities and algae on the front of the seedling curtain 19 in the No. 4 clamping frame 10, and the worker installs a seedling curtain 19 to be cleaned in the No. 3 clamping frame 9.

[0038] ⑤ The transposition motor 3 drives the central column 6 to rotate 72° counterclockwise, the flip motor 13 in the No. 1 support arm 602 drives the No. 1 clamping frame 7 to flip 180°, the flip motor 13 in the No. 4 support arm 605 drives the No. 4 clamping frame 10 to flip 180°, the vibration motor 15 at the rear end of the No. 5 clamping frame 11 rotates and causes the corresponding seedling curtain 19 to vibrate; the No. 1 clamping frame 7 rotates to the lower side of the No. 2 flushing arm 106, and the front side of the seedling curtain 19 flips to the upper side, the No. 5 clamping frame 11 rotates to the lower side of the No. 1 flushing arm 105, the No. 4 clamping frame 10 rotates to the lower side of the No. 2 cross arm 5, and the back side of the seedling curtain 19 flips to the upper side, the No. 3 clamping frame 9 rotates to the lower side of the No. 1 cross arm 4, and the No. 2 clamping frame 8 rotates to the notch installation position of the cover shell 2;

[0039] Then the nozzle 36 on the lower side of the No. 2 washing arm 106 moves back and forth and sprays a water curtain to wash the front of the seedling curtain 19 in the No. 1 clamping frame 7, the nozzle 36 on the lower side of the No. 1 washing arm 105 moves back and forth and sprays a water curtain to wash the back of the seedling curtain 19 in the No. 5 clamping frame 11, the electric clamp 29 on the lower side of the No. 2 cross arm 5 performs targeted cleaning of the impurities and algae on the back of the seedling curtain 19 in the No. 4 clamping frame 10, the electric clamp 29 on the lower side of the No. 1 cross arm 4 performs targeted cleaning of the impurities and algae on the front of the seedling curtain 19 in the No. 3 clamping frame 9, and the worker installs a seedling curtain 19 to be cleaned in the No. 2 clamping frame 8.

[0040] ⑥ The transposition motor 3 drives the center column 6 to rotate 72° counterclockwise, the vibration motor 15 at the rear end of the No. 1 clamping frame 7 stops rotating, the flip motor 13 in the No. 5 support arm 606 drives the No. 5 clamping frame 11 to flip 180°, the flip motor 13 in the No. 3 support arm 604 drives the No. 3 clamping frame 9 to flip 180°, the vibration motor 15 at the rear end of the No. 4 clamping frame 10 rotates and causes the corresponding seedling curtain 19 to vibrate; the No. 1 clamping frame 7 rotates to the notch installation position of the cover shell 2, the No. 5 clamping frame 11 rotates to the lower side of the No. 2 flushing arm 106, and the front side of the seedling curtain 19 flips to the upper side, the No. 4 clamping frame 10 rotates to the lower side of the No. 1 flushing arm 105, the No. 3 clamping frame 9 rotates to the lower side of the No. 2 cross arm 5, and the back side of the seedling curtain 19 flips to the upper side, and the No. 2 clamping frame 8 rotates to the lower side of the No. 1 cross arm 4;

[0041] Then the worker unloads the cleaned seedling curtain 19 in the No. 1 clamping frame 7 and installs a seedling curtain 19 to be cleaned. The nozzle 36 on the lower side of the No. 2 flushing arm 106 moves back and forth and sprays a water curtain to flush the front of the seedling curtain 19 in the No. 5 clamping frame 11. The nozzle 36 on the lower side of the No. 1 flushing arm 105 moves back and forth and sprays a water curtain to flush the back of the seedling curtain 19 in the No. 4 clamping frame 10. The electric clamp 29 on the lower side of the No. 2 cross arm 5 performs targeted cleaning of impurities and algae on the back of the seedling curtain 19 in the No. 3 clamping frame 9. The electric clamp 29 on the lower side of the No. 1 cross arm 4 performs targeted cleaning of impurities and algae on the front of the seedling curtain 19 in the No. 2 clamping frame 8.

[0042] Repeat the above steps ①-⑥ until all seedling curtains are cleaned.

Claims

1. Seedling curtain cleaning machine, mainly including a support main body (1), a housing (2), a transposition motor (3), a first cross arm (4), a second cross arm (5), a central column (6), a first clamping frame (7), a second clamping frame (8), a third clamping frame (9), a fourth clamping frame (10), a fifth clamping frame (11), a flipping motor (13), a vibration motor (15), a positioning hook (17), a slide table motor (22), a slide table (25), a swing arm motor (26), a swing arm (27), an electric clamp (29), a camera (30), a nozzle motor (31), and a nozzle (36), characterized in that: A central platform (101) is arranged at the center of the support main body (1), and a first guide post (103), a second guide post (104), a first flushing arm (105), and a second flushing arm (106) are arranged outside the support main body (1). The first guide post (103) and the second guide post (104) have the same structure, and both of them have a hollow structure with an upward opening inside. The first flushing arm (105) and the second flushing arm (106) have the same structure, and cross beams pointing to the center are arranged at the upper ends of both of them. A water tank (102) is coaxially and fixedly installed above the central platform (101). The water tank (102) is an incomplete circular ring structure with a notch, and the notch is located between the second flushing arm (106) and the first guide post (103). The housing (2) is an incomplete circular ring shell structure with a notch and is installed above the water tank (102). An indicator light (201) is arranged on the upper side of the top cover of the housing (2); The central column (6) is a cylindrical structure, and its lower end is installed inside the central platform (101) to form a rotating pair. The upper end of the central column (6) is evenly provided with a first support arm (602), a second support arm (603), a third support arm (604), a fourth support arm (605), and a fifth support arm (606). A flipping motor (13) is installed inside the outer ends of the five support arms; The transposition motor (3) is installed on the front side of the central platform (101), and the rotation and positioning of the central column (6) are realized through a gear transmission structure; The rear end of the first clamping frame (7) is installed at the front end of the first support arm (602) to form a rotating pair, and the flipping motor (13) can realize the flipping and positioning of the first clamping frame (7). A vibration motor (15) and a vibrator (16) are installed inside the rear end of the first clamping frame (7); Two guide grooves (701) are arranged on the inner sides of the two branches of the U-shaped structure at the front end of the first clamping frame (7), and two positioning hooks (17) are rotatably installed on the outer sides of the front ends of the two branches of the U-shaped structure; The second clamping frame (8), the third clamping frame (9), the fourth clamping frame (10), and the fifth clamping frame (11) have the same structure and related connecting components as the first clamping frame (7). The above four clamping frames are respectively rotatably connected to the second support arm (603), the third support arm (604), the fourth support arm (605), and the fifth support arm (606); The first cross arm (4) is an inverted L-shaped structure, the rear end of which is mounted on the upper end of the first guide column (103) and can move up and down, the slide (25) is mounted in the hollow guide groove at the upper end of the first cross arm (4) and can move forward and backward, the slide motor (22) is fixedly mounted on the upper side of the rear end of the first cross arm (4) and can realize the movement of the slide (25) through a synchronous belt transmission structure, the camera (30) is mounted on the lower side of the slide (25), the swing arm motor (26) is mounted on the upper side of the slide (25), the rear end of the swing arm (27) is tightly connected to the output shaft of the swing arm motor (26), and the electric clamp (29) is fixedly mounted on the lower side of the front end of the swing arm (27); the second cross arm (5) has the same structure and related connecting parts as the first cross arm (4), and the rear end of the second cross arm (5) is mounted on the upper end of the second guide column (104) and can move up and down; The spray head (36) is a long shower structure. The upper side of the spray head (36) is installed on the lower side of the first flushing arm (105) and forms a moving pair. The spray head motor (31) is installed on the upper rear end of the first flushing arm (105) and realizes the movement of the spray head (36) through a synchronous belt transmission structure. The related connecting parts of the second flushing arm (106) and the first flushing arm (105) are the same.

2. The seedling curtain cleaning machine according to claim 1, characterized in that: The angle between the first guide post (103) and the second guide post (104) is 72°, the angle between the second guide post (104) and the first flushing arm (105) is 72°, the angle between the first flushing arm (105) and the second flushing arm (106) is 72°, and the angle between the second flushing arm (106) and the first guide post (103) is 144°.

3. The seedling curtain cleaning machine according to claim 1, characterized in that: The angle between the notches of the water tank (102) is 72°. A water outlet is arranged at the rear end of the water tank (102). A valve (12) that can be opened and closed is arranged at the lower end of the water outlet. The valve (12) is connected to the water filtering device.

4. The seedling curtain cleaning machine according to claim 1, characterized in that: The indicator light (201) is provided with a red light, a yellow light and a green light. When the seedling curtain cleaning machine fails, the red light is on. When the seedling curtain cleaning machine needs to be replaced and the seedling curtain is installed, the yellow light is on. When the seedling curtain cleaning machine is in a normal cleaning state, the green light is on. The cover (2) is installed on the upper side of the water tank (102).

5. The seedling curtain cleaning machine according to claim 1, characterized in that: The vibrator (16) is an eccentric block structure, and the vibrator (16) is tightly connected to the output shaft of the vibration motor (15), so that when the vibration motor (15) rotates, the first clamping frame (7) can vibrate.

6. The seedling curtain cleaning machine according to claim 1, characterized in that: The front end of the positioning hook (17) is provided with a freely rotatable guide roller (1701), the rear of the guide roller (1701) is provided with a pressure stop surface, the rear end of the positioning hook (17) is provided with a pressing plate, and a spring sheet (18) is installed between the inner side of the pressing plate and the No. 1 clamping frame (7).

7. The seedling curtain cleaning machine according to claim 1, characterized in that: The camera (30) can identify the position of impurities on the seedling curtain through the principle of visual positioning.

8. The seedling curtain cleaning machine according to claim 1, characterized in that: The upper end of the spray head (36) is provided with a water pipe interface (3601), and the water pipe interface (3601) is connected to the water supply device through a solenoid valve.

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